Rapid Linear Formation Establishment During UAV Swarm Takeoff

Achieving a fast and safe takeoff procedure for UAV swarms poses significant challenges, particularly when the target aerial formation is linear. In such formations, UAVs often follow overlapping paths, which increases collision risks or forces the use of overly conservative strategies that prolong takeoff time. To address these issues, this study investigates how attraction–repulsion mechanisms can accelerate the takeoff phase while ensuring safety through fully distributed control. We evaluate five takeoff methods—Sequential, Staggered, Simultaneous, Simultaneous with Magnetic Repulsion (M1), and Simultaneous with Magnetic Repulsion and Dispersion (M2)—under two initial ground setups (Matrix and Random) and varying swarm sizes. The primary objective is to achieve low takeoff times when targeting linear aerial formations while maintaining operational safety. Using a simulation-based approach with controlled environmental conditions, total takeoff time and safety (measured as episodes where UAVs violate a predefined separation distance) were analyzed. Results confirm that simultaneous strategies substantially reduce takeoff time, whereas the proposed repulsion- and dispersion-based mechanisms significantly mitigate conflicts in dense deployments. Overall, the study highlights a practical trade-off between speed and safety and shows that the proposed M2 mechanism offers an efficient and robust solution for organizing UAV swarms into linear formations.